A universal controller for robust trajectory tracking in multirotor unmanned aerial vehicles (UAVs) is disclosed. A particular embodiment includes: a sensor system to measure position and orientation of a multirotor unmanned aerial vehicle (UAV); and a flight control system, coupled to the sensor system, the flight control system being configured to: obtain position and orientation data from the sensor system; generate a plurality of derivatives from the position and orientation data using a differentiator; apply a decoupling control law to approximately decouple translation dynamics from each other in a three-dimensional (3D) space; compute error values between desired trajectories and actual trajectories in each dimension of 3D space using the plurality of derivatives and the decoupled dynamics; and generate control signals to vary speeds of a plurality of thrust elements to counteract the computed error values in each dimension of 3D space.
展开▼
